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3D-SLAM入门教程-多线雷达hdl_graph_slam三维建图

3D-SLAM入门教程-多线雷达hdl_graph_slam三维建图

说明:

  • 介绍如何安装hdl_graph_slam

步骤:

  • 依赖库:
OpenMP
PCL
g2o
suitesparse
  • 依赖ros库
geodesy
nmea_msgs
pcl_ros
ndt_omp
fast_gicp
  • 安装依赖:
sudo apt-get install ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs ros-melodic-libg2o
  • 编译hdl_graph_slam:
cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git -b melodic
git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
  • 安装ProgressBar2(可选)
sudo pip install ProgressBar2

室内测试:

rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_501.launch
  • 启动rviz
roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz
  • 回放rosbag
rosbag play --clock hdl_501_filtered.bag
  • 或者运行
rosrun hdl_graph_slam bag_player.py hdl_501_filtered.bag
  • 保存PCD地图:
rosservice call /hdl_graph_slam/save_map "resolution: 0.05
destination: '/full_path_directory/map.pcd'"

室外测试:

rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch
  • 启动rviz
roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz
  • 回放rosbag
rosbag play --clock hdl_400.bag

参考:

  • https://github.com/koide3/hdl_graph_slam
  • https://www.geek-share.com/detail/2798533272.html

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标签: 3d-slam入门教程